ROTATIONAL MOTION

ROTATIONAL MOTION
Angular velocity

 d

dt
Angular acceleration
 
 d d2 
 
dt dt2
Angular momentum
   
L  r  p  I
Torque

   dL
  r F 
dt
Rotational Kinetic energy
1 2 L2
K  I 
2 2I

Rotational Power :

P  .
For constant angular acceleration
   0  t
1
   0 t   t 2
2
 2  20  2

 n  0  (2n  1)
2
Moment of Inertia
A tensor but for fixed axis it is a scalar
in

For discrete distribution of mass I = m r + m r + .....+m r =

1 1
2
2 2
2 2
n n
mr
i1
ii
2

For continuous distribution of mass I   dI   dmr 2

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 ROTATIONAL MOTION

 Radius of gyration

I
k
M
Theorems regarding moment of inertia
 Theorem of parallel axes Iaxis = Icm + md2
where d is the perpendicular distance between parallel axes.
 Theorem of perpendicular axes Iz = Ix + Iy

 Rod

Rectangular Lamina
 2  b2 
I  M  

 12 

Ring :

 Disc :

Circular Hollow Disk

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 ROTATIONAL MOTION

Hollow cylinder
 2 R 2 
I  M   

 12 2 

Solid cylinder

 2 R2 
I  M  
 12 4 

Solid & Hollow sphere

Rolling motion
1 1
 Total kinetic energy  Mv 2CM  ICM2
2 2
 Total angular momentum  Mv CMR  ICM

Pure rolling (or rolling without slipping) on stationary surface

 Condition : vcm = R
In accelerated motion acm = R
 If vcm > R then rolling with forward slipping.
 If vcm < Rthen rolling with backward slipping.
 Total kinetic energy in pure rolling
2  v cm   k2 
2
1 2 1 1
Ktotal  Mv cm  (Mk )  2   Mv2cm  1  2 
2 2 R  2  R 
Pure rolling motion on an inclined plane

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 ROTATIONAL MOTION

gsin 
Acceleration a 
1  k2 / R2
tan 
Minimum frictional coefficient min 
1  R2 / k 2
   
  d d(I) dL dJ
Torque   I  I   or
dt dt dt dt
 
Change in angular momentum  L  t
 
Work done by a torque W     d
KEY POINTS
 A ladder is more apt to slip, when you are high up on it than when you just begin to
climb because at the high up on a ladder the torque is large and on climbing up, the
torque is small.
 When a sphere rolls on a horizontal table, it slows down and eventually stops because
when the sphere rolls on the table, both the sphere and the surface deform near the
contact. As a result the normal force does not pass through the centre and provide an
angular deceleration.
 The spokes near the top of a rolling bicycle wheel are more blurred than those near
the bottom of the wheel because the spokes near the top of wheel are moving faster
than those near the bottom of the wheel.
 Instantaneous angular velocity is a vector quantity because infinitesimal angular
displacement is a vector.
 The relative angular velocity between any two points of a rigid body is zero at any
instant.
 All particles of a rigid body, which do not lie on an axis of rotation move on circular
paths with centres at an axis of rotation.
 Instantaneous axis of rotation is stationary w.r.t. ground
 Many greater rivers flow toward the equator. The sediment that they carry increases
the time of rotation of the earth about its own axis because the momentum of the
angular earth about its rotation axis is conserved.
 The hard boiled egg and raw egg can be distinguished on the basis of spinning of both.

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